Obstacle Detection and Avoidance for an Autonomous Surface Vehicle using a Profiling Sonar

摘要：

We present an experimental study of a mechanically scanned profiling sonar for Autonomous Surface Vehicle (ASV) obstacle detection and avoidance. We extract potential obstacles from echo returns and suggest a scanning strategy for sonar in this application. We demonstrate with simulations (driven by data collected in the field) the potential for an ASV to rely solely on sonar data to navigate and avoid obstacles in a lake and harbor environment.

作者: Hordur K. Heidarsson Gaurav S. Sukhatme

作者单位: Robotic Embedded Systems Lab and the Department of Electrical Engineering,University of Southern Cal Robotic Embedded Systems Lab and the Department of Computer Science,University of Southern Californi

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 731-736

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）